This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking for a team of autonomous quadrotors carrying a suspended load. Formation control is provided by the combination of passivity-based techniques and backstepping, while a supervisory fault-tolerant control policy is responsible to reconfigure the network topology and the control objectives upon detection of faults among the vehicles.
2021, 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, Pages 1-9
Fault-tolerant formation control of a team of quadrotors with a suspended payload (04b Atto di convegno in volume)
Saiella L., Cristofaro A., Ferro M., Vendittelli M.
Gruppo di ricerca: Robotics